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<p><code>#include &lt;<a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>&gt;</code></p>
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<tr class="memitem:ab4d9ccc1c9f4bc1cb407fa8ffe961169"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d14/class_gait_scheduler.html#ab4d9ccc1c9f4bc1cb407fa8ffe961169">GaitScheduler</a> ()</td></tr>
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<tr class="memitem:a69896c6cef7e2ce5af6e03257e20cb6a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d14/class_gait_scheduler.html#a69896c6cef7e2ce5af6e03257e20cb6a">~GaitScheduler</a> ()</td></tr>
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<tr class="memitem:af81918cf6a309399af3d9aae8acc419e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d14/class_gait_scheduler.html#af81918cf6a309399af3d9aae8acc419e">initialize</a> ()</td></tr>
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<tr class="memitem:ae5b4bf8cf030f84bb71bf92d0645bbec"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d14/class_gait_scheduler.html#ae5b4bf8cf030f84bb71bf92d0645bbec">step</a> ()</td></tr>
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<tr class="memitem:a3f47d51b88bca6f18e412fe2240ceab5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d14/class_gait_scheduler.html#a3f47d51b88bca6f18e412fe2240ceab5">createGait</a> ()</td></tr>
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<tr class="memitem:a32eeebff7f2116ba025c588b7e0dfc6b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d14/class_gait_scheduler.html#a32eeebff7f2116ba025c588b7e0dfc6b">printGaitInfo</a> ()</td></tr>
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Public Attributes</h2></td></tr>
<tr class="memitem:a38068cb2562c375e676ca73f42e32f66"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d28/struct_gait_data.html">GaitData</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a></td></tr>
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Private Attributes</h2></td></tr>
<tr class="memitem:a356c80a20b9f85b1baddbe9dc984e81f"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d14/class_gait_scheduler.html#a356c80a20b9f85b1baddbe9dc984e81f">dt</a> = 0.001</td></tr>
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<tr class="memitem:a58f00cf651b7057beca2a74d376f1230"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d14/class_gait_scheduler.html#a58f00cf651b7057beca2a74d376f1230">dphase</a></td></tr>
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<tr class="memitem:a9fe751d44ef5f89b7b2abb20340c7321"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d14/class_gait_scheduler.html#a9fe751d44ef5f89b7b2abb20340c7321">printNum</a> = 5</td></tr>
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<tr class="memitem:aaa7152b3069b18d1c24c0bb64135e369"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d14/class_gait_scheduler.html#aaa7152b3069b18d1c24c0bb64135e369">printIter</a> = 0</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename T&gt;<br />
class GaitScheduler&lt; T &gt;</h3>


<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00087">87</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<p>Constructor to automatically setup a basic gait </p>

<p>Definition at line <a class="el" href="../../db/daa/_gait_scheduler_8cpp_source.html#l00063">63</a> of file <a class="el" href="../../db/daa/_gait_scheduler_8cpp_source.html">GaitScheduler.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;                                {</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <a class="code" href="../../d1/d14/class_gait_scheduler.html#af81918cf6a309399af3d9aae8acc419e">initialize</a>();</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;}</div><div class="ttc" id="class_gait_scheduler_html_af81918cf6a309399af3d9aae8acc419e"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html#af81918cf6a309399af3d9aae8acc419e">GaitScheduler::initialize</a></div><div class="ttdeci">void initialize()</div><div class="ttdef"><b>Definition:</b> <a href="../../db/daa/_gait_scheduler_8cpp_source.html#l00071">GaitScheduler.cpp:71</a></div></div>
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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00091">91</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;{};</div></div><!-- fragment -->
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<h2 class="groupheader">Member Function Documentation</h2>
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<p>Creates the gait structure from the important defining parameters of each gait</p>
<p>To create a standard gait you should only need to define the following:</p>
<p>gaitData.periodTimeNominal gaitData.switchingPhaseNominal gaitData.phaseOffset</p>
<p>The rest can be set to:</p>
<p>gaitData.gaitEnabled &lt;&lt; 1, 1, 1, 1; gaitData.initialPhase = 0.0; gaitData.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</p>
<p>These add flexibility to be used for very irregular gaits and transitions. </p>

<p>Definition at line <a class="el" href="../../db/daa/_gait_scheduler_8cpp_source.html#l00212">212</a> of file <a class="el" href="../../db/daa/_gait_scheduler_8cpp_source.html">GaitScheduler.cpp</a>.</p>

<p>References <a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a3f2f8723cbd899bb8c01535c8c20891d">AMBLE</a>, <a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644af21b7bb741194744a5bfb09205ef1d42">BOUND</a>, <a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a72baef04098f035e8a320b03ad197818">CUSTOM</a>, <a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa07127d952ba6758ae1e08d5d703d8ef">PACE</a>, <a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a34c5eadaca5fda7993745596d7d45d6f">PRONK</a>, <a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a30ce6fd695850107605e2e6de3138a82">ROTARY_GALLOP</a>, <a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81">STAND</a>, <a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a0c00eda7250defe61fcbe8a5543b5a70">STAND_CYCLE</a>, <a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ae17f898fe13f9f5dea6e5df227b1800f">STATIC_WALK</a>, <a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ac21f6a086117d20a0c539a258a82b12a">THREE_FOOT</a>, <a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aceebb59ead523196504cc39bcd4b54b3">TRANSITION_TO_STAND</a>, <a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa693260f3ffbf0dc98943c793a3505ae">TRAVERSE_GALLOP</a>, <a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa58bb7e7d425c92a12bc54b3b3e6da9d">TROT</a>, <a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ab3bce71c8ddab6720ae1b1580c534d16">TROT_RUN</a>, and <a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a1d7f92766f335adef7b76d10b19ed8bc">TROT_WALK</a>.</p>
<div class="fragment"><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;                                  {</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  <span class="comment">// Case structure gets the appropriate parameters</span></div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="keywordflow">switch</span> (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>._nextGait) {</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81">GaitType::STAND</a>:</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitName = <span class="stringliteral">&quot;STAND&quot;</span>;</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitEnabled &lt;&lt; 1, 1, 1, 1;</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTimeNominal = 10.0;</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.initialPhase = 0.0;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.switchingPhaseNominal = 1.0;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseOffset &lt;&lt; 0.5, 0.5, 0.5, 0.5;</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a0c00eda7250defe61fcbe8a5543b5a70">GaitType::STAND_CYCLE</a>:</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitName = <span class="stringliteral">&quot;STAND_CYCLE&quot;</span>;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; 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0.5, 0.5, 0.5, 0.5;</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ae17f898fe13f9f5dea6e5df227b1800f">GaitType::STATIC_WALK</a>:</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitName = <span class="stringliteral">&quot;STATIC_WALK&quot;</span>;</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; 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0.25, 0.0, 0.75, 0.5;</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a3f2f8723cbd899bb8c01535c8c20891d">GaitType::AMBLE</a>:</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitName = <span class="stringliteral">&quot;AMBLE&quot;</span>;</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; 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0.0, 0.5, 0.25, 0.75;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a1d7f92766f335adef7b76d10b19ed8bc">GaitType::TROT_WALK</a>:</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitName = <span class="stringliteral">&quot;TROT_WALK&quot;</span>;</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; 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0.0, 0.0, 0.5, 0.5;</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a30ce6fd695850107605e2e6de3138a82">GaitType::ROTARY_GALLOP</a>:</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitName = <span class="stringliteral">&quot;ROTARY_GALLOP&quot;</span>;</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitEnabled &lt;&lt; 1, 1, 1, 1;</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTimeNominal = 0.4;</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.initialPhase = 0.0;</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.switchingPhaseNominal = 0.2;</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseOffset &lt;&lt; 0.0, 0.8571, 0.3571, 0.5;</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa693260f3ffbf0dc98943c793a3505ae">GaitType::TRAVERSE_GALLOP</a>:</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      <span class="comment">// TODO: find the right sequence, should be easy</span></div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitName = <span class="stringliteral">&quot;TRAVERSE_GALLOP&quot;</span>;</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitEnabled &lt;&lt; 1, 1, 1, 1;</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTimeNominal = 0.5;</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.initialPhase = 0.0;</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.switchingPhaseNominal = 0.2;</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseOffset &lt;&lt; 0.0, 0.8571, 0.3571, 0.5;</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a34c5eadaca5fda7993745596d7d45d6f">GaitType::PRONK</a>:</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitName = <span class="stringliteral">&quot;PRONK&quot;</span>;</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitEnabled &lt;&lt; 1, 1, 1, 1;</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTimeNominal = 0.5;</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.initialPhase = 0.0;</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.switchingPhaseNominal = 0.5;</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseOffset &lt;&lt; 0.0, 0.0, 0.0, 0.0;</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ac21f6a086117d20a0c539a258a82b12a">GaitType::THREE_FOOT</a>:</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitName = <span class="stringliteral">&quot;THREE_FOOT&quot;</span>;</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitEnabled &lt;&lt; 0, 1, 1, 1;</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTimeNominal = 0.5;</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.initialPhase = 0.0;</div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.switchingPhaseNominal = 0.5;</div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseOffset &lt;&lt; 0.0, 0.666, 0.0, 0.333;</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseScale &lt;&lt; 0.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    <span class="keywordflow">case</span> <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a72baef04098f035e8a320b03ad197818">GaitType::CUSTOM</a>:</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitName = <span class="stringliteral">&quot;CUSTOM&quot;</span>;</div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; 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1, 1, 1, 1;</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;      T oldGaitPeriodTimeNominal = <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTimeNominal;</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTimeNominal = 3 * <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTimeNominal;</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.initialPhase = 0.0;</div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.switchingPhaseNominal =</div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;          (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTimeNominal +</div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;           oldGaitPeriodTimeNominal * (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.switchingPhaseNominal - 1)) /</div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;          <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTimeNominal;</div><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseOffset &lt;&lt; (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTimeNominal +</div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;                               oldGaitPeriodTimeNominal *</div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;                                   (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseVariable(0) - 1)) /</div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;                                  <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTimeNominal,</div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;          (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTimeNominal +</div><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;           oldGaitPeriodTimeNominal * (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseVariable(1) - 1)) /</div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;              <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTimeNominal,</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;          (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTimeNominal +</div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;           oldGaitPeriodTimeNominal * (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseVariable(2) - 1)) /</div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;              <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTimeNominal,</div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;          (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTimeNominal +</div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;           oldGaitPeriodTimeNominal * (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseVariable(3) - 1)) /</div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;              <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTimeNominal;</div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseScale &lt;&lt; 1.0, 1.0, 1.0, 1.0;</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      <span class="keywordflow">break</span>;</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  }</div><div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;</div><div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  <span class="comment">// Set the gait parameters for each foot</span></div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> foot = 0; foot &lt; 4; foot++) {</div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitEnabled(foot) == 1) {</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;      <span class="comment">// The scaled period time for each foot</span></div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTime(foot) =</div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;          <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTimeNominal / <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseScale(foot);</div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;</div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      <span class="comment">// Phase at which to switch the foot from stance to swing</span></div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.switchingPhase(foot) = <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.switchingPhaseNominal;</div><div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;</div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;      <span class="comment">// Initialize the phase variables according to offset</span></div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseVariable(foot) =</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;          <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.initialPhase + <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseOffset(foot);</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;      <span class="comment">// Find the total stance time over the gait cycle</span></div><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.timeStance(foot) =</div><div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;          <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTime(foot) * <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.switchingPhase(foot);</div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;</div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;      <span class="comment">// Find the total swing time over the gait cycle</span></div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.timeSwing(foot) =</div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;          <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTime(foot) * (1.0 - <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.switchingPhase(foot));</div><div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;</div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      <span class="comment">// The scaled period time for each foot</span></div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTime(foot) = 0.0;</div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;</div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;      <span class="comment">// Phase at which to switch the foot from stance to swing</span></div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.switchingPhase(foot) = 0.0;</div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;</div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;      <span class="comment">// Initialize the phase variables according to offset</span></div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseVariable(foot) = 0.0;</div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      <span class="comment">// Foot is never in stance</span></div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.timeStance(foot) = 0.0;</div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;</div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;      <span class="comment">// Foot is always in &quot;swing&quot;</span></div><div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.timeSwing(foot) = 1.0 / <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTime(foot);</div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    }</div><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;  }</div><div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;}</div><div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644aa07127d952ba6758ae1e08d5d703d8ef"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa07127d952ba6758ae1e08d5d703d8ef">GaitType::PACE</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a3f2f8723cbd899bb8c01535c8c20891d"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a3f2f8723cbd899bb8c01535c8c20891d">GaitType::AMBLE</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644aceebb59ead523196504cc39bcd4b54b3"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aceebb59ead523196504cc39bcd4b54b3">GaitType::TRANSITION_TO_STAND</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81">GaitType::STAND</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644af21b7bb741194744a5bfb09205ef1d42"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644af21b7bb741194744a5bfb09205ef1d42">GaitType::BOUND</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a0c00eda7250defe61fcbe8a5543b5a70"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a0c00eda7250defe61fcbe8a5543b5a70">GaitType::STAND_CYCLE</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644ac21f6a086117d20a0c539a258a82b12a"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ac21f6a086117d20a0c539a258a82b12a">GaitType::THREE_FOOT</a></div></div>
<div class="ttc" id="class_gait_scheduler_html_a38068cb2562c375e676ca73f42e32f66"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">GaitScheduler::gaitData</a></div><div class="ttdeci">GaitData&lt; T &gt; gaitData</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00106">GaitScheduler.h:106</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644ab3bce71c8ddab6720ae1b1580c534d16"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ab3bce71c8ddab6720ae1b1580c534d16">GaitType::TROT_RUN</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a72baef04098f035e8a320b03ad197818"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a72baef04098f035e8a320b03ad197818">GaitType::CUSTOM</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644aa693260f3ffbf0dc98943c793a3505ae"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa693260f3ffbf0dc98943c793a3505ae">GaitType::TRAVERSE_GALLOP</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a1d7f92766f335adef7b76d10b19ed8bc"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a1d7f92766f335adef7b76d10b19ed8bc">GaitType::TROT_WALK</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644ae17f898fe13f9f5dea6e5df227b1800f"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644ae17f898fe13f9f5dea6e5df227b1800f">GaitType::STATIC_WALK</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644aa58bb7e7d425c92a12bc54b3b3e6da9d"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644aa58bb7e7d425c92a12bc54b3b3e6da9d">GaitType::TROT</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a34c5eadaca5fda7993745596d7d45d6f"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a34c5eadaca5fda7993745596d7d45d6f">GaitType::PRONK</a></div></div>
<div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644a30ce6fd695850107605e2e6de3138a82"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644a30ce6fd695850107605e2e6de3138a82">GaitType::ROTARY_GALLOP</a></div></div>
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          <td class="memname">void <a class="el" href="../../d1/d14/class_gait_scheduler.html">GaitScheduler</a>&lt; T &gt;::initialize </td>
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<p>Initialize the gait data </p>

<p>Definition at line <a class="el" href="../../db/daa/_gait_scheduler_8cpp_source.html#l00071">71</a> of file <a class="el" href="../../db/daa/_gait_scheduler_8cpp_source.html">GaitScheduler.cpp</a>.</p>

<p>References <a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81">STAND</a>.</p>
<div class="fragment"><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;                                  {</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  std::cout &lt;&lt; <span class="stringliteral">&quot;[GAIT] Initialize Gait Scheduler&quot;</span> &lt;&lt; std::endl;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="comment">// Start the gait in a trot since we use this the most</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>._currentGait = <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81">GaitType::STAND</a>;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="comment">// Zero all gait data</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.zero();</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="comment">// Create the gait from the nominal initial</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <a class="code" href="../../d1/d14/class_gait_scheduler.html#a3f47d51b88bca6f18e412fe2240ceab5">createGait</a>();</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;}</div><div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81">GaitType::STAND</a></div></div>
<div class="ttc" id="class_gait_scheduler_html_a38068cb2562c375e676ca73f42e32f66"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">GaitScheduler::gaitData</a></div><div class="ttdeci">GaitData&lt; T &gt; gaitData</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00106">GaitScheduler.h:106</a></div></div>
<div class="ttc" id="class_gait_scheduler_html_a3f47d51b88bca6f18e412fe2240ceab5"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html#a3f47d51b88bca6f18e412fe2240ceab5">GaitScheduler::createGait</a></div><div class="ttdeci">void createGait()</div><div class="ttdef"><b>Definition:</b> <a href="../../db/daa/_gait_scheduler_8cpp_source.html#l00212">GaitScheduler.cpp:212</a></div></div>
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template&lt;typename T &gt; </div>
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          <td class="memname">void <a class="el" href="../../d1/d14/class_gait_scheduler.html">GaitScheduler</a>&lt; T &gt;::printGaitInfo </td>
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<p>Prints relevant information about the gait and current gait state </p>

<p>Definition at line <a class="el" href="../../db/daa/_gait_scheduler_8cpp_source.html#l00424">424</a> of file <a class="el" href="../../db/daa/_gait_scheduler_8cpp_source.html">GaitScheduler.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;                                     {</div><div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  <span class="comment">// Increment printing iteration</span></div><div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;  <a class="code" href="../../d1/d14/class_gait_scheduler.html#aaa7152b3069b18d1c24c0bb64135e369">printIter</a>++;</div><div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;</div><div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;  <span class="comment">// Print at requested frequency</span></div><div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d1/d14/class_gait_scheduler.html#aaa7152b3069b18d1c24c0bb64135e369">printIter</a> == <a class="code" href="../../d1/d14/class_gait_scheduler.html#a9fe751d44ef5f89b7b2abb20340c7321">printNum</a>) {</div><div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;[GAIT SCHEDULER] Printing Gait Info...\n&quot;</span>;</div><div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Gait Type: &quot;</span> &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitName &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;---------------------------------------------------------\n&quot;</span>;</div><div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Enabled: &quot;</span> &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitEnabled(0) &lt;&lt; <span class="stringliteral">&quot; | &quot;</span></div><div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;              &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitEnabled(1) &lt;&lt; <span class="stringliteral">&quot; | &quot;</span> &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitEnabled(2)</div><div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | &quot;</span> &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitEnabled(3) &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Period Time: &quot;</span> &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTime(0) &lt;&lt; <span class="stringliteral">&quot;s | &quot;</span></div><div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;              &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTime(1) &lt;&lt; <span class="stringliteral">&quot;s | &quot;</span> &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTime(2)</div><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;              &lt;&lt; <span class="stringliteral">&quot;s | &quot;</span> &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTime(3) &lt;&lt; <span class="stringliteral">&quot;s\n&quot;</span>;</div><div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;---------------------------------------------------------\n&quot;</span>;</div><div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Contact State: &quot;</span> &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.contactStateScheduled(0) &lt;&lt; <span class="stringliteral">&quot; | &quot;</span></div><div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;              &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.contactStateScheduled(1) &lt;&lt; <span class="stringliteral">&quot; | &quot;</span></div><div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;              &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.contactStateScheduled(2) &lt;&lt; <span class="stringliteral">&quot; | &quot;</span></div><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;              &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.contactStateScheduled(3) &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Phase Variable: &quot;</span> &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseVariable(0) &lt;&lt; <span class="stringliteral">&quot; | &quot;</span></div><div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;              &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseVariable(1) &lt;&lt; <span class="stringliteral">&quot; | &quot;</span> &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseVariable(2)</div><div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | &quot;</span> &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseVariable(3) &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Stance Time Remaining: &quot;</span> &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.timeStanceRemaining(0)</div><div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;              &lt;&lt; <span class="stringliteral">&quot;s | &quot;</span> &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.timeStanceRemaining(1) &lt;&lt; <span class="stringliteral">&quot;s | &quot;</span></div><div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;              &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.timeStanceRemaining(2) &lt;&lt; <span class="stringliteral">&quot;s | &quot;</span></div><div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;              &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.timeStanceRemaining(3) &lt;&lt; <span class="stringliteral">&quot;s\n&quot;</span>;</div><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Swing Time Remaining: &quot;</span> &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.timeSwingRemaining(0)</div><div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;              &lt;&lt; <span class="stringliteral">&quot;s | &quot;</span> &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.timeSwingRemaining(1) &lt;&lt; <span class="stringliteral">&quot;s | &quot;</span></div><div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;              &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.timeSwingRemaining(2) &lt;&lt; <span class="stringliteral">&quot;s | &quot;</span></div><div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;              &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.timeSwingRemaining(3) &lt;&lt; <span class="stringliteral">&quot;s\n&quot;</span>;</div><div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    std::cout &lt;&lt; std::endl;</div><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;</div><div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;    <span class="comment">// Reset iteration counter</span></div><div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;    <a class="code" href="../../d1/d14/class_gait_scheduler.html#aaa7152b3069b18d1c24c0bb64135e369">printIter</a> = 0;</div><div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;  }</div><div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;}</div><div class="ttc" id="class_gait_scheduler_html_a38068cb2562c375e676ca73f42e32f66"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">GaitScheduler::gaitData</a></div><div class="ttdeci">GaitData&lt; T &gt; gaitData</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00106">GaitScheduler.h:106</a></div></div>
<div class="ttc" id="class_gait_scheduler_html_aaa7152b3069b18d1c24c0bb64135e369"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html#aaa7152b3069b18d1c24c0bb64135e369">GaitScheduler::printIter</a></div><div class="ttdeci">int printIter</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00122">GaitScheduler.h:122</a></div></div>
<div class="ttc" id="class_gait_scheduler_html_a9fe751d44ef5f89b7b2abb20340c7321"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html#a9fe751d44ef5f89b7b2abb20340c7321">GaitScheduler::printNum</a></div><div class="ttdeci">int printNum</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00119">GaitScheduler.h:119</a></div></div>
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template&lt;typename T &gt; </div>
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          <td class="memname">void <a class="el" href="../../d1/d14/class_gait_scheduler.html">GaitScheduler</a>&lt; T &gt;::step </td>
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<p>Executes the Gait Schedule step to calculate values for the defining gait parameters. </p>

<p>Definition at line <a class="el" href="../../db/daa/_gait_scheduler_8cpp_source.html#l00089">89</a> of file <a class="el" href="../../db/daa/_gait_scheduler_8cpp_source.html">GaitScheduler.cpp</a>.</p>

<p>References <a class="el" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81">STAND</a>.</p>
<div class="fragment"><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                            {</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="comment">// Create a new gait structure if a new gait has been requested</span></div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>._currentGait != <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>._nextGait) {</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;[GAIT] Transitioning gait from &quot;</span> &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitName</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; to &quot;</span>;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <a class="code" href="../../d1/d14/class_gait_scheduler.html#a3f47d51b88bca6f18e412fe2240ceab5">createGait</a>();</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    std::cout &lt;&lt; <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitName &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span> &lt;&lt; std::endl;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>._currentGait = <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>._nextGait;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  }</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="comment">// Iterate over the feet</span></div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> foot = 0; foot &lt; 4; foot++) {</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.gaitEnabled(foot) == 1) {</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="comment">// Monotonic time based phase incrementation</span></div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>._currentGait == <a class="code" href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81">GaitType::STAND</a>) {</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="comment">// Don&#39;t increment the phase when in stand mode</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <a class="code" href="../../d1/d14/class_gait_scheduler.html#a58f00cf651b7057beca2a74d376f1230">dphase</a> = 0.0;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <a class="code" href="../../d1/d14/class_gait_scheduler.html#a58f00cf651b7057beca2a74d376f1230">dphase</a> = <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseScale(foot) * (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a356c80a20b9f85b1baddbe9dc984e81f">dt</a> / <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTimeNominal);</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      }</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="comment">// Find each foot&#39;s current phase</span></div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseVariable(foot) =</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          fmod((<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseVariable(foot) + <a class="code" href="../../d1/d14/class_gait_scheduler.html#a58f00cf651b7057beca2a74d376f1230">dphase</a>), 1);</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="comment">// Check the current contact state</span></div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseVariable(foot) &lt;= <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.switchingPhase(foot)) {</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="comment">// Foot is scheduled to be in contact</span></div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.contactStateScheduled(foot) = 1;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="comment">// Stance subphase calculation</span></div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseStance(foot) =</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;            <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseVariable(foot) / <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.switchingPhase(foot);</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <span class="comment">// Swing phase has not started since foot is in stance</span></div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseSwing(foot) = 0.0;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="comment">// Calculate the remaining time in stance</span></div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.timeStanceRemaining(foot) =</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;            <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTime(foot) *</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;            (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.switchingPhase(foot) - <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseVariable(foot));</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="comment">// Foot is in stance, no swing time remaining</span></div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.timeSwingRemaining(foot) = 0.0;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="comment">// First contact signifies scheduled touchdown</span></div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.contactStatePrev(foot) == 0) {</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;          <span class="comment">// Set the touchdown flag to 1</span></div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;          <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.touchdownScheduled(foot) = 1;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          <span class="comment">// Remember the location of the feet at touchdown</span></div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;          <span class="comment">// posFootTouchdownWorld = ;</span></div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;          <span class="comment">// Set the touchdown flag to 0</span></div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;          <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.touchdownScheduled(foot) = 0;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        }</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="comment">// Foot is not scheduled to be in contact</span></div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.contactStateScheduled(foot) = 0;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="comment">// Stance phase has completed since foot is in swing</span></div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseStance(foot) = 1.0;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="comment">// Swing subphase calculation</span></div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseSwing(foot) =</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;            (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseVariable(foot) - <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.switchingPhase(foot)) /</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;            (1.0 - <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.switchingPhase(foot));</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        <span class="comment">// Foot is in swing, no stance time remaining</span></div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.timeStanceRemaining(foot) = 0.0;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="comment">// Calculate the remaining time in swing</span></div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.timeSwingRemaining(foot) =</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;            <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.periodTime(foot) * (1 - <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseVariable(foot));</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <span class="comment">// First contact signifies scheduled touchdown</span></div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.contactStatePrev(foot) == 1) {</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;          <span class="comment">// Set the liftoff flag to 1</span></div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;          <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.liftoffScheduled(foot) = 1;</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;          <span class="comment">// Remember the location of the feet at touchdown</span></div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;          <span class="comment">// posFootLiftoffWorld = ;</span></div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;          <span class="comment">// Set the liftoff flag to 0</span></div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;          <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.liftoffScheduled(foot) = 0;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        }</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      }</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="comment">// Leg is not enabled</span></div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.phaseVariable(foot) = 0.0;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="comment">// Foot is not scheduled to be in contact</span></div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.contactStateScheduled(foot) = 0;</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    }</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="comment">// Set the previous contact state for the next timestep</span></div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.contactStatePrev(foot) = <a class="code" href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">gaitData</a>.contactStateScheduled(foot);</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  }</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;}</div><div class="ttc" id="_gait_scheduler_8h_html_a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81"><div class="ttname"><a href="../../d0/d3f/_gait_scheduler_8h.html#a59af7e48457ec99ac3c9b011e8708644add135fb441de529b55c24775556f3a81">GaitType::STAND</a></div></div>
<div class="ttc" id="class_gait_scheduler_html_a38068cb2562c375e676ca73f42e32f66"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html#a38068cb2562c375e676ca73f42e32f66">GaitScheduler::gaitData</a></div><div class="ttdeci">GaitData&lt; T &gt; gaitData</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00106">GaitScheduler.h:106</a></div></div>
<div class="ttc" id="class_gait_scheduler_html_a58f00cf651b7057beca2a74d376f1230"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html#a58f00cf651b7057beca2a74d376f1230">GaitScheduler::dphase</a></div><div class="ttdeci">T dphase</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00116">GaitScheduler.h:116</a></div></div>
<div class="ttc" id="class_gait_scheduler_html_a356c80a20b9f85b1baddbe9dc984e81f"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html#a356c80a20b9f85b1baddbe9dc984e81f">GaitScheduler::dt</a></div><div class="ttdeci">T dt</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00113">GaitScheduler.h:113</a></div></div>
<div class="ttc" id="class_gait_scheduler_html_a3f47d51b88bca6f18e412fe2240ceab5"><div class="ttname"><a href="../../d1/d14/class_gait_scheduler.html#a3f47d51b88bca6f18e412fe2240ceab5">GaitScheduler::createGait</a></div><div class="ttdeci">void createGait()</div><div class="ttdef"><b>Definition:</b> <a href="../../db/daa/_gait_scheduler_8cpp_source.html#l00212">GaitScheduler.cpp:212</a></div></div>
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<h2 class="groupheader">Member Data Documentation</h2>
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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00116">116</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00113">113</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00106">106</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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          <td class="memname">int <a class="el" href="../../d1/d14/class_gait_scheduler.html">GaitScheduler</a>&lt; T &gt;::printIter = 0</td>
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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00122">122</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00119">119</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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